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42 lines
1.7 KiB
42 lines
1.7 KiB
<launch>
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<!-- REALSENSE D435i -->
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<include file="$(find stretch_rtabmap)/launch/robot/d435i_basic.launch" pass_all_args="true">
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<arg name="depth_width" value="640"/>
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<arg name="depth_height" value="480"/>
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<arg name="color_width" value="640"/>
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<arg name="color_height" value="480"/>
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</include>
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<node name="d435i_configure" pkg="stretch_core" type="d435i_configure" output="screen">
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<param name="initial_mode" type="string" value="Default"/>
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<!-- <param name="initial_mode" type="string" value="Medium Density"/> -->
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<!-- <param name="initial_mode" type="string" value="High Accuracy"/> -->
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</node>
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<!-- -->
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<!-- FRUSTUM FIELD OF VIEW VISUALIZATION -->
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<node name="d435i_frustum_visualizer" pkg="stretch_core" type="d435i_frustum_visualizer" output="screen" />
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<!-- -->
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<!-- STRETCH DRIVER -->
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<param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
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<param name="/stretch_driver/mode" type="string" value="navigation" />
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<param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
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<include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
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<!-- -->
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<!-- IMU FILTER -->
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<!-- <include file="$(find stretch_core)/launch/imu_filter.launch" /> -->
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<!-- -->
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<!-- LASER RANGE FINDER -->
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<include file="$(find stretch_core)/launch/rplidar.launch" />
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<!-- -->
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<!-- LASER SCAN MATCHER FOR ODOMETRY -->
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<include file="$(find stretch_core)/launch/stretch_scan_matcher.launch" />
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<!-- -->
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<!-- ROBOT LOCALIZATION FILTER -->
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<!-- <include file="$(find stretch_core)/launch/stretch_ekf.launch" /> -->
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<!-- -->
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</launch>
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